def __init__(self,
file=None,
dryrun=False,
debug=False,
helm_args=None,
local_development=False):
self.config = Config()
self.config.dryrun = dryrun
self.config.debug = debug
self.config.helm_args = helm_args
self.config.local_development = local_development
if self.config.debug:
logging.warn(
"The --debug flag will be deprecated. Please use --helm-args or --dry-run instead."
)
if self.config.helm_args:
logging.warn(
"Specifying --helm-args on the cli will override helm_args in the course file."
)
try:
self.helm = Helm()
except Exception, e:
logging.error(e)
sys.exit(1)
def __init__(self, file):
"""
Parse course.yml contents into instances.
"""
self.config = Config()
self.helm = Helm()
self._dict = yaml.load(file)
self._repositories = []
self._charts = []
for name, repository in self._dict.get('repositories', {}).iteritems():
repository['name'] = name
self._repositories.append(Repository(repository))
for name, chart in self._dict.get('charts', {}).iteritems():
self._charts.append(Chart({name: chart}))
for repo in self._repositories:
type(repo)
if not self.config.local_development:
logging.debug("Installing repository: {}".format(repo))
repo.install()
self.helm.repo_update()
if not self.config.local_development:
self._compare_required_versions()
def test_should_subscribe_check_course_every_10_seconds(self):
self.listen(EventName.every)
helm = Helm(self.exchange, self.sensors, self.steerer, self.logger,
HELM_CONFIG)
self.assertEqual(self.events[EventName.every][0].next_event.name,
EventName.check_course)
def test_should_navigate_to_next_waypoint_with_kink_in_route(self):
destination = Waypoint(Position(10.03, 10.03), 10)
gps = FakeMovingGPS([
Position(10, 10),
Position(10.01, 10.01),
Position(10.025, 10.015),
Position(10.03, 10.03)
])
sensors = FakeSensors(gps, 1, 45)
steerer = Steerer(self.servo, self.logger, CONFIG['steerer'])
helm = Helm(self.exchange, sensors, steerer, self.logger,
CONFIG['helm'])
navigator = Navigator(sensors, Globe(), self.exchange, self.logger,
CONFIG['navigator'])
self.exchange.publish(Event(EventName.navigate, waypoint=destination))
self.ticks(number=14, duration=200)
self.logger.info.assert_has_calls([
call(
'Navigator, steering to +10.030000,+10.030000, bearing 44.6, distance 4681.8m, review after 600s'
),
call(
'Navigator, steering to +10.030000,+10.030000, bearing 44.6, distance 3121.2m, review after 600s'
),
call(
'Navigator, steering to +10.030000,+10.030000, bearing 71.3, distance 1734.0m, review after 600s'
),
call('Navigator, arrived at +10.030000,+10.030000')
])
def test_should_steer_repeatedly_during_navigation(self):
logger = Mock()
destination = Waypoint(Position(10.0003, 10.0003), 10)
gps = FakeMovingGPS([
Position(10, 10),
Position(10.0001, 10.00015),
Position(10.00025, 10.0002),
Position(10.0003, 10.0003)
])
sensors = FakeSensors(gps, 1, 45)
steerer = Steerer(self.servo, logger, CONFIG['steerer'])
helm = Helm(self.exchange, sensors, steerer, logger, CONFIG['helm'])
navigator = Navigator(sensors, Globe(), self.exchange, logger,
CONFIG['navigator'])
self.exchange.publish(Event(EventName.navigate, waypoint=destination))
self.ticks(number=7, duration=20)
logger.debug.assert_has_calls([
call(
'Navigator, distance from waypoint +46.819018, combined tolerance +10.000000'
),
call(
'Navigator, distance from waypoint +27.647432, combined tolerance +10.000000'
),
call(
'Steerer, steering 36.4, heading 45.0, rate of turn +1.0, rudder +0.0, new rudder +4.6'
),
call(
'Steerer, steering 36.4, heading 45.0, rate of turn +1.0, rudder +4.6, new rudder +9.2'
),
call(
'Navigator, distance from waypoint +12.281099, combined tolerance +10.000000'
),
call(
'Steerer, steering 63.1, heading 45.0, rate of turn +1.0, rudder +9.2, new rudder +0.4'
),
call(
'Navigator, distance from waypoint +0.000000, combined tolerance +10.000000'
),
call(
'Steerer, steering 63.1, heading 45.0, rate of turn +1.0, rudder +0.4, new rudder -8.3'
),
call(
'Steerer, steering 63.1, heading 45.0, rate of turn +1.0, rudder -8.3, new rudder -17.1'
)
])
logger.info.assert_has_calls([
call(
'Navigator, steering to +10.000300,+10.000300, bearing 44.6, distance 46.8m, review after 23s'
),
call(
'Navigator, steering to +10.000300,+10.000300, bearing 36.4, distance 27.6m, review after 13s'
),
call(
'Navigator, steering to +10.000300,+10.000300, bearing 63.1, distance 12.3m, review after 6s'
),
call('Navigator, arrived at +10.000300,+10.000300')
])
def setUp(self):
super(TestHelm, self).setUp()
self.sensors = Mock()
self.logger = Mock()
self.steerer = Mock()
self.helm = Helm(self.exchange, self.sensors, self.steerer,
self.logger, HELM_CONFIG)
self.helm.previous_heading = 180
def install(self, namespace=None, context=None):
"""
Description:
- Uprade --install the course chart
Arguments:
- namespace (string). Passed in but will be overriddne by Chart().namespace if set
Returns:
- Bool
"""
helm = Helm()
# Set the namespace
if self.namespace is None:
self._namespace = namespace
# Set the context
if self.context is None:
self._context = context
self.pre_install_hook()
# TODO: Improve error handling of a repository installation
self.repository.install(self.name, self.version)
self.chart_path = self.repository.chart_path
# Update the helm dependencies
if self.repository.git is None:
self.update_dependencies()
# Build the args for the chart installation
# And add any extra arguments
self.args = ['{}'.format(self._release_name), self.chart_path, ]
self.args.append('--namespace={}'.format(self.namespace))
if self.context is not None:
self.args.append('--kube-context={}'.format(self.context))
self.args.extend(self.debug_args)
self.args.extend(self.helm_args)
if self.version:
self.args.append('--version={}'.format(self.version))
for file in self.files:
self.args.append("-f={}".format(file))
for key, value in self.values.iteritems():
for k, v in self._format_set(key, value):
self.args.append("--set={}={}".format(k, v))
for key, value in self.values_strings.iteritems():
for k, v in self._format_set(key, value):
self.args.append("--set={}={}".format(k, v))
self.__check_env_vars()
try:
helm.upgrade(self.args)
except ReckonerCommandException, e:
logging.error(e.stderr)
raise e
def __init__(self, chart):
self.helm = Helm()
self.config = Config()
self._release_name = chart.keys()[0]
self._chart = chart[self._release_name]
self._repository = Repository(self._chart.get('repository', default_repository))
self._chart['values'] = self.ordereddict_to_dict(self._chart.get('values', {}))
value_strings = self._chart.get('values-strings', {})
self._chart['values_strings'] = self.ordereddict_to_dict(value_strings)
if value_strings != {}:
del(self._chart['values-strings'])
def __init__(self, gps=False, servo_port=SERVO_PORT):
# devices
self._gps = gps
self.windsensor = WindSensor(I2C(WINDSENSOR_I2C_ADDRESS))
self.compass = Compass(I2C(COMPASS_I2C_ADDRESS),
I2C(ACCELEROMETER_I2C_ADDRESS))
self.red_led = GpioWriter(17, os)
self.green_led = GpioWriter(18, os)
# Navigation
self.globe = Globe()
self.timer = Timer()
self.application_logger = self._rotating_logger(APPLICATION_NAME)
self.position_logger = self._rotating_logger("position")
self.exchange = Exchange(self.application_logger)
self.timeshift = TimeShift(self.exchange, self.timer.time)
self.event_source = EventSource(self.exchange, self.timer,
self.application_logger,
CONFIG['event source'])
self.sensors = Sensors(self.gps, self.windsensor, self.compass,
self.timer.time, self.exchange,
self.position_logger, CONFIG['sensors'])
self.gps_console_writer = GpsConsoleWriter(self.gps)
self.rudder_servo = Servo(serial.Serial(servo_port),
RUDDER_SERVO_CHANNEL, RUDDER_MIN_PULSE,
RUDDER_MIN_ANGLE, RUDDER_MAX_PULSE,
RUDDER_MAX_ANGLE)
self.steerer = Steerer(self.rudder_servo, self.application_logger,
CONFIG['steerer'])
self.helm = Helm(self.exchange, self.sensors, self.steerer,
self.application_logger, CONFIG['helm'])
self.course_steerer = CourseSteerer(self.sensors, self.helm,
self.timer,
CONFIG['course steerer'])
self.navigator = Navigator(self.sensors, self.globe, self.exchange,
self.application_logger,
CONFIG['navigator'])
self.self_test = SelfTest(self.red_led, self.green_led, self.timer,
self.rudder_servo, RUDDER_MIN_ANGLE,
RUDDER_MAX_ANGLE)
# Tracking
self.tracking_logger = self._rotating_logger("track")
self.tracking_sensors = Sensors(self.gps, self.windsensor,
self.compass, self.timer.time,
self.exchange, self.tracking_logger,
CONFIG['sensors'])
self.tracker = Tracker(self.tracking_logger, self.tracking_sensors,
self.timer)
def __init__(self, chart):
self.helm = Helm()
self.config = Config()
self._release_name = chart.keys()[0]
self._chart = chart[self._release_name]
self._repository = Repository(self._chart.get('repository', default_repository))
self._chart['values'] = self._chart.get('values', {})
self._namespace = self._chart.get('namespace')
self._context = self._chart.get('context')
value_strings = self._chart.get('values-strings', {})
self._chart['values_strings'] = value_strings
if value_strings != {}:
del(self._chart['values-strings'])
def __init__(self):
self.globe = Globe()
self.console_logger = self._console_logger()
self.exchange = Exchange(self.console_logger)
self.gps = SimulatedGPS(CHORLTON.position,0,0.1)
self.vehicle = SimulatedVehicle(self.gps, self.globe,self.console_logger,single_step=False)
self.timeshift = TimeShift(self.exchange,self.vehicle.timer.time)
self.event_source = EventSource(self.exchange,self.vehicle.timer,self.console_logger,CONFIG['event source'])
self.sensors = Sensors(self.vehicle.gps, self.vehicle.windsensor,self.vehicle.compass,self.vehicle.timer.time,self.exchange,self.console_logger,CONFIG['sensors'])
self.steerer = Steerer(self.vehicle.rudder,self.console_logger,CONFIG['steerer'])
self.helm = Helm(self.exchange, self.sensors, self.steerer, self.console_logger, CONFIG['helm'])
self.course_steerer = CourseSteerer(self.sensors,self.helm,self.vehicle.timer, CONFIG['course steerer'])
self.navigator_simulator = Navigator(self.sensors,self.globe,self.exchange,self.console_logger,CONFIG['navigator'])
self.tracking_timer = Timer()
self.tracker_simulator = Tracker(self.console_logger,self.sensors,self.tracking_timer)
def install(self, chart_name=None, version=None):
""" Install Helm repository """
from helm import Helm # currently cheating to get around a circular import issue
helm = Helm()
if self.git is None:
self._chart_path = "{}/{}".format(self.name, chart_name)
if self not in helm.repositories:
try:
return helm.repo_add(str(self.name), str(self.url))
except AutoHelmCommandException, e:
logging.warn("Unable to install repository {}: {}".format(self.name, e.stderr))
return False
else:
logging.debug("Chart repository {} already installed".format(self.name))
return True
def __init__(self,
file=None,
dryrun=False,
debug=False,
helm_args=None,
local_development=False):
self.config = Config()
self.config.dryrun = dryrun
self.config.debug = debug
self.config.helm_args = helm_args
self.config.local_development = local_development
try:
self.helm = Helm()
except Exception, e:
logging.error(e)
sys.exit(1)
def __init__(self,
file=None,
dryrun=False,
debug=False,
helm_args=None,
local_development=False):
self.config = Config()
self.config.dryrun = dryrun
self.config.debug = debug
self.config.helm_args = helm_args
self.config.local_development = local_development
self.helm = Helm()
if not self.config.local_development and not self.helm.server_version:
logging.error(
"Tiller not present in cluster. Have you run `helm init`?")
sys.exit(1)
self.course = Course(file)
def setUp(self):
super(TestHelmOscillation, self).setUp()
# Sensors
mock_angle = PropertyMock(return_value=3.0)
self.time = 0
self.gps = StubGPS()
self.windsensor = Mock()
self.compass = Mock()
self.compass.bearing = 0
type(self.windsensor).angle = mock_angle
self.logger = Mock()
self.sensors = Sensors(self.gps, self.windsensor, self.compass,
self.mock_time, self.exchange, self.logger,
SENSOR_CONFIG)
self.rudder_servo = RudderSimulator()
self.steerer = Steerer(self.rudder_servo, self.logger, STEERER_CONFIG)
self.helm = Helm(self.exchange, self.sensors, self.steerer,
self.logger, HELM_CONFIG)
self.helm.previous_heading = 0
def setup(self):
self._load_kube_config()
self.create_image_pull_secret()
self.helm = Helm(self.kube_config, self.current_context)
self.install_storage_provisioner()
